Chapter 6 Control Mode of Operation ASDA-M
6-2 Revision December, 2014
Torque mode T 03
The servo drive receives torque command
and commands the motor to the target
torque. The torque command can be issued
by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
Torque mode
(No analog input)
Tz 05
The servo drive receives torque command
and commands the motor to the target
torque. The torque command can be issued
by register (3 sets of registers in total) and
cannot be issued by the external terminal
block. DI signal is used to select the
command source.
Mode Name
Short
Name
Setting
Code
Description
Dual mode
PT-S 06
Switch the mode of PT and S via DI signal.
PT-T 07
Switch the mode of PT and T via DI signal.
PR-S 08
Switch the mode of PR and S via DI signal.
PR-T 09
Switch the mode of PR and T via DI signal.
S-T 0A
Switch the mode of S and T via DI signal.
CANopen 0B
Control by the master
Reserved 0C
Reserved
PT-PR 0D
Switch the mode of PT and PR via DI signal.
Multi mode
PT-PR-S 0E
Switch the mode of PT, PR and S via DI
signal.
PT-PR-T 0F
Switch the mode of PT, PR and T via DI
signal.
Steps of switching mode:
1. Servo Off the servo drive first. It can be done by switching OFF SON signal.
2. Select the axis of desired changing mode first. Then, fill in the setting code in control
mode setting of parameter P1-01. Please refer to the description of Chapter 8.
3. After the setting is completed, turn off the servo drive and then re-power on will do.
The followings will introduce the operation of each mode, including the mode structure,
command source and selection, command processing and gain adjustment, etc.
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